2014 · 14 citations · 16 references
EngineeringComputer ScienceRobotics EngineeringAutonomous VehiclesRoboticsUnderwater RoboticsAutonomous Underwater VehiclesMappingRemotely Operated VehiclesRobot LocalizationVisual NavigationVisual SlamAutonomous Underwater Vehicle NavigationLocalization AlgorithmsRemotely Operated Vehicle NavigationRov LocalizationUnderwater Navigation SystemsUnderwater Vehicle NavigationUnderwater Visual SlamVision-based Navigation
This paper addresses the development of an underwater visual navigation system for a Remotely Operated Vehicle (ROV) based on Real-Time Simultaneous Localization and Mapping method using natural landmarks. Our proposed approach was tested in an indoor tank, where field experiments were performed to obtain 3D vehicle (VIDEORAY Pro3 ROV) trajectory, and results validated using an external stereo vision “ground-truth” system.
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Speeded-Up Robust Features (SURF)
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A Combined Corner and Edge Detector
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